Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator
Finite Element Method for Kinematic Analysis of Parallel Hip Joint Manipulator
复制标题
并联髋关节机械臂运动分析的有限元方法
DOI：
10.1115/1.4028623
复制
发表时间：
2015-11-01
影响因子：
2.6
通讯作者：
Yang, Jian-hua
中科院分区：
文献类型：
--
作者：
Cheng, Gang;Wang, Song-tao;Yang, Jian-hua
提出了一种求解并联机器人运动学的有限元方法，并应用该方法对并联髋关节机器人进行了运动学分析。分析和仿真结果表明，有限元法可以得到精确的运动学结果，并且求解过程表明，有限元法可以在同一数学框架下求解非线性和线性运动学问题，为建立PHJM不同参数模型的集成模型提供了理论基础。
This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator (PHJM). The analysis and simulation results indicate that FEM can get accurate results of the kinematics of the PHJM, and the solution process shows that using FEM can solve nonlinear and linear kinematic problems in the same mathematical framework, which provides a theory base for establishing integrated model among different parameter models of the PHJM.